Ok first of all, should I date this girl?...

ok so this girl I like and I are both part of this group of friends we've all been friends since high school. Ok now the problem is that one of my friends in the same group which I have been friends with for almost 10 years may have a crush on her so I dont know how that would effect my friendship with him and I really don't wan't him ing hurting over this (I know how it feels) plus if it turns out she doesn't like me our friendship will never be the same (I know this from experience)... even if I do deside to ask her out I have another problem...

Which brings me to my second point I have social anxiety among other things which I take medication for, but they don't help the anxiety much, anyways I CAN NOT ask her if she feels the same way I do directly or I will most likely have a panic attack, so is there anything I can do or say to find out if she feels the same way?